Sample build report · internal lab demo

A mall floor and an office,
from photos alone.

Every delivery comes with a short report like this one: what we measured from your data, what we had to assume, and how the physics checks went — including what didn’t pass. This one is from our own demo, built from 154 existing phone photos. Nobody from our team visited the site.

Full build after several revisions. A free 48 h sample is smaller: one space up to 300 m².

What came out

Inputs and outputs

Photos in: 154
Separate assets: 642
Asset kits: 107
Articulated assets · joints: 131 · 431
Lights: 533
Triangles at full detail: 1.0 M

Assets by area: corridor 166 · shops across the atrium 315 · office furniture 43 · office shell 118
Every asset has collision shapes and three levels of detail
No photos on panels. Walls, shopfronts, furniture and ceiling fixtures are real geometry. Photo pixels appear only on real printed things: sign lettering, posters, door stickers, framed pictures
Joints are hinges and slides on fridge doors, pantry drawers, the oven, wall cabinets, storage cabinets, the water dispenser, the copier’s paper trays, shop doors and shutters
Lights: downlights, cove lighting, lit signs and shop lighting
Reused where possible: common items like chairs came from our existing asset library instead of being modelled again

From the photos

What we measured

Where the same point shows up in two or more photos, we triangulate it. That gives real distances without a scanner.

Ceiling heights
From the light fixtures. The office ceiling has two levels: 2.28 m and 2.43 m.
Signs
Positions and sizes. One shop sign was located from 10 photos, with error at or under 0.6 px.
Office layout
Desks, chairs, pantry, fridge, water dispenser, copier and cabinet heights. The copier and the wall outlet behind it were measured from 8 photos — which moved the copier 1.2 m forward from our first placement, right up to the grey wall with the outlet.
Corridor and shopfronts
Positions of the walkway and shop faces.
Colours
We rendered the twin from each photo’s camera pose and matched floor, desk, tile and wall colours region by region, then applied the camera’s white balance.

Not in the photos

What we assumed — and what we changed

We keep these lists separate so you always know which parts are evidence and which are our best guess.

ASSUMED

How deep the shops go beyond what the photos show
A storage cabinet seen only in a mirror
The upper atrium and parts of the floor above
Inside the shutters, drawers and doors

CHANGED ON REQUEST

The fridge was closed in every photo. We filled it with 17 scanned food items and added an inside light that turns on when the door opens past 2°
Removed a desk phone that sat where the robot puts the bottle down

KNOWN DIFFERENCES

Phone HDR brightens some ceilings in the photos, so those look darker in the twin
People and some small props were left out

Physics checks

Does it behave, not just look right?

01 · AT REST

Everything free, 3 s of simulation

All joints released and every body simulated for 3 seconds.

Asset pairs overlapping > 2 mm: 0
Bodies moving on their own: 0
Joints drifting: 0
Food items, all with mass: 17

02 · EVERY JOINT

Open for ~1 s, then close

Each of the 263 non-shutter joints was driven open and closed on its own. 255 reached at least 85% of their target. The 8 that didn’t are listed below with the reason.

Reached ≥ 85% of target: 255 / 263
Water bottles in the fridge door, max slide: 11 mm

Bottles in the door shelves slid at most 11 mm while the door swung; none fell. Fruit rides along when the crisper drawer is pulled out.

03 · ROBOT TASK

Open the fridge, take a bottle, set it on a desk

A dual-arm mobile manipulator drives in through the office door, pulls the fridge open by its handle, takes a bottle from the door shelf by friction, pushes the door shut and stands the bottle on a desk. No scripted object motion — only contact.

Task checks passed: 24 / 24
Fridge door, max opening: 82.1°
Bottle tilt on the desk: 0.0025°
Fridge door after closing: 0.049°
Contact with the office door: 0
Largest tilt of any other item: 2.5°

The door-shelf bottles rode the swinging door and stayed within 2 mm of it. The 2.5° is a milk carton that settled 1.6° onto its scanned, slightly uneven base at the start.

The 8 joints that opened less than 85%

Part	Opened	Why
Clinic entrance door	79%	Heavy door, motor torque capped at 60 N·m, so 1 s wasn’t enough. Given 3 s it reaches 98% — and then touches a banner stand that is also in the photos.
Marble-front entrance door	44%	Heavy door, same 60 N·m cap. Reaches its target given 3 s.
Fridge crisper drawer	9%	Blocked by the closed fridge door — as it would be in real life.
Storage cabinet A, door 2	22%	Hits a hanging sign we measured from the photos.
Storage cabinet B, door 1	16%	Hits the corridor wall.
Storage cabinet B, door 2	16%	Hits the corridor wall.
Copier bypass tray	69%	Hits the edge of the mirror behind it. The photos show the tray open, so our estimated hinge position is slightly off.
Task chair swivel	84%	Hits the mirror behind it and a computer on the desk.